Sketch Humanoid Robot Design With Rough Dimensions Engineering Assignment Help

Assignment Task

Pick and place using a humanoid robot
Design a humanoid robot with a total of 15 DOFs (including 1 DOF for the head) that is capable of walking and at the same time can carry a cubic object, 20 lbs, using both hands as follows:
a.Sketch robot design with rough dimensions and show different DOFs 
b.Estimate mass of each link and the total mass of the robot. (Link Material: Aluminum; Each motor weights:
c. Calculate the inverse and forward kinematics for the robot. Note that the robotshould be able to lean forward or perform a squat depending on the height of the object’s location to reach it and grab the object with two arms. 
d. Using the dynamic equations find out the max torque required for each motor (only for the arm joints) such that the motor provides enough torque to compensate for the gravitational force related to both robot and the object throughout the entire workspace. 
e. Design a pick and place scenario and find out the joint positions and torques in two modes and plot them.

1) Reaching mode 2) grasping and handling mode

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